Finite-time Convergence Control For A Quadrotor Unmanned Aerial Vehicle With A Slung load

This work investigates the control technique for a quadrotor unmanned aerial vehicle with a slung load. By taking the advantage of the cascade property, a new hierarchical control scheme is designed that divides the control problem into three parts. For the attitude motion control of the quadrotor,...

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Veröffentlicht in:IEEE transactions on industrial informatics Jg. 20; H. 1; S. 1 - 9
Hauptverfasser: Yang, Sen, Xian, Bin, Cai, Jiaming, Wang, Guangyi
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway IEEE 01.01.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Attitude control
Autonomous aerial vehicles
Closed loops
Control design
Control theory
Convergence
Feedback control
finite-time convergence
Motion control
Nonlinear control
Quadrotors
Sliding mode control
slung load
Stability analysis
Trajectory
UAV
Unmanned aerial vehicles
Unmanned helicopters
ISSN:1551-3203, 1941-0050
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Zusammenfassung:This work investigates the control technique for a quadrotor unmanned aerial vehicle with a slung load. By taking the advantage of the cascade property, a new hierarchical control scheme is designed that divides the control problem into three parts. For the attitude motion control of the quadrotor, the non-singularity terminal sliding mode based control law is proposed. For the translation motion control of the quadrotor, the super-twisting based control law is designed. Additional, for the swing attenuation of the slung load, a nonlinear anti-swing control design is provided. A Lyapunov stability analysis is presented to show the stability of the closed loop system, together with the fast convergence of the quadrotor's translational and attitude tracking, and exponential convergence of the slung load's swing motion. The real time experiments verifies the well performance of the proposed controller.
Bibliographie:ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISSN:1551-3203
1941-0050
DOI:10.1109/TII.2023.3268762